#ifndef __RELOCALISER_H
#define __RELOCALISER_H
#include <TooN/se3.h>
#include <string>
#include <gvars3/instances.h>
#include "KeyFrame.h"
#include "Map.h"

class Relocaliser
{
public:
  virtual bool AttemptRecovery(Map *pMap, boost::shared_ptr<KeyFrame> pCurrentKF, boost::shared_ptr<KeyFrame> pMapKF) = 0;
  virtual SE3<> BestPose() = 0;
  virtual std::string Type() = 0;
};

#endif









